Microsoft Kinect Sensörü kullanarak zemin düzlemi
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Abstract

Ground plane detection is essential for successful navigation of vision based mobile robots. We introduce a novel and robust ground plane detection algorithm using depth information acquired by a Kinect sensor. Unlike similar methods from the literature, we do not assume that the ground plane covers the largest area in the scene. Furthermore our algorithm handles two different conditions: fixed and changing view angle of the sensor. We show that the algorithm is robust if the view angle is fixed whereas an additional procedure handles different view angles satisfactorily.

An image-based range-sensing technique is presented. The technique is originally considered for highway collision avoidance applications, but its generality makes it suitable for application in robotics, manufacturing, and ...

A global optimal control algorithm is developed and applied to an omni-directional mobile robot model. The aim is to search and find the most intense signal source among other signal sources in the operation region of the ...

A global extremum seeking algorithm is developed for a mobile robot model where the aim is to find the location of the most powerful signal source among the others. In other words, the control problem is to seek the global ...